>>76394417 (OP)This is a pretty nuanced question I'd love to just say
"the minium amount of time it takes to complete another set" but that's largely variable based on the rep range and general exertion level of the lift.
On most compounds in the 8-12 range I'd start with 3 minutes then try shaving off 10 seconds at a time until you find the lowest amount of time you get repeatable sets with.
For accessory work where hitting failure is more important and less detrimental just 90 seconds ot 2 minutes. Maybe even lower.
If you're using any kind of rir you can cut rest times even more. Say you're doing bench 8 reps with your 10 rep max so 2 in reserve. You can probably repeat that in 2 minutes but the difference is that seocnd set had 1 in reserve instead of 2 because full recovery was not achieved and you could probably hit 8 again with 0 in reserve on your next set. This approach has a lot going on in it. It has time saving, fatigue management, work with good failure proximity, and keeps your muscles from cooling down significantly so your injury risk is minimized. So this would be the first thing I would advocate in practical training assuming if and only if you can accurately find your 10 rep max.